3
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: found
      Is Open Access

      Foot-Mounted Pedestrian Navigation Method by Comparing ADR and Modified ZUPT Based on MEMS IMU Array

      research-article

      Read this article at

      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          Using an MEMS Inertial Measurement Unit (MEMS IMU) array mounted on foot is a feasible approach to improve the pedestrian tracking accuracy for the pedestrian navigation system (PNS). Based on the in-house developed IMU array, the paper proposes a new integrated framework that combines adaptive deck reckoning (ADR) with the modified zero velocity update (ZUPT). In the proposed ADR algorithm, the IMUs with large drift errors on the array are selected and removed according to the step length and the track angle computed by each IMU on the array. Then, by using the step length and the track angle of each step computed by remaining IMUs, the foot position extracted from the traditional ZUPT model is estimated on the basis of least squares (LS) so as to improve the traveled distance calculation accuracy. Compared with the traditional IMU array fusion method based on a maximum likelihood estimator (MLE) when it is used in the PNS, which is approximately taking the mean value of array readings, the proposed method is equivalent to adaptively fusing the array readings and thus improves the pedestrian tracking accuracy. To compare the proposed method with MLE, two different types of walking tracks are designed. The 161 m straight line experiments show that the end position by ADR/modified ZUPT method is much closer to the one of the reference trajectory compared with the MLE in repeated walks, and the closed-loop tracks about 300 m show that the positioning error with respect to the total traveled distance is less than 0.6% (1σ), which is higher than 1% (1σ) of MLE.

          Related collections

          Most cited references37

          • Record: found
          • Abstract: not found
          • Article: not found

          Pedestrian Tracking with Shoe-Mounted Inertial Sensors

          E. Foxlin (2005)
            Bookmark
            • Record: found
            • Abstract: not found
            • Article: not found

            A Survey of Indoor Inertial Positioning Systems for Pedestrians

              Bookmark
              • Record: found
              • Abstract: not found
              • Article: not found

              Accurate Pedestrian Indoor Navigation by Tightly Coupling Foot-Mounted IMU and RFID Measurements

                Bookmark

                Author and article information

                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                06 July 2020
                July 2020
                : 20
                : 13
                : 3787
                Affiliations
                School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 20444, China; xinglishu@ 123456shu.edu.cn (L.X.); tuxiaowei@ 123456shu.edu.cn (X.T.)
                Author notes
                [* ]Correspondence: andychen183@ 123456shu.edu.cn ; Tel.: +86-138-1703-4253
                Author information
                https://orcid.org/0000-0002-6388-6246
                Article
                sensors-20-03787
                10.3390/s20133787
                7374343
                32640628
                0bab8b0a-2af7-463a-b85a-fc46e6935046
                © 2020 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                : 17 May 2020
                : 01 July 2020
                Categories
                Article

                Biomedical engineering
                pedestrian navigation,mems imu array,adaptive dead reckoning (adr),zero velocity update (zupt)

                Comments

                Comment on this article